#ifndef __MY_MATH_H
#define	__MY_MATH_H

extern const float M_PI;
extern const float AtR;
extern const float RtA;
extern const float Gyro_G;
extern const float Gyro_Gr;

#define squa( Sq )        (((float)Sq)*((float)Sq))
#define LIMIT( x,min,max ) ( (x) < (min)  ? (min) : ( (x) > (max) ? (max) : (x) ) )

extern float Q_rsqrt(float number);

#endif 
